| """ | |
| 归一化常量 - point7_v30 | |
| 从 data/each-point-V30/point7_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point7_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| 0.004993811870476917, | |
| -0.03668475890462332, | |
| -0.15001792557963725, | |
| 0.02313079317844302, | |
| 0.6102601077429641, | |
| -0.023200521375653305, | |
| 0.0, | |
| 0.2290352039759211, | |
| 1.3048671406166559, | |
| -1.0789188399940317, | |
| 0.05619807040991162, | |
| 0.6267969706707454, | |
| -0.024478758549863287, | |
| 0.05121669103070006 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.0020545029753015146, | |
| 6.202278667684293e-05, | |
| 0.0001807650863658067, | |
| 8.790955357253574e-09, | |
| 0.0014343293661670461, | |
| 5.006272005313904e-06, | |
| 0.0, | |
| 0.24319274880874694, | |
| 0.88686269489927, | |
| 0.6611244807771219, | |
| 0.07054404667146644, | |
| 0.19453283681824293, | |
| 0.07609471832766768, | |
| 0.028602137212971713 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| 0.004789570208705036, | |
| -0.03412054037157247, | |
| -0.1743535372015287, | |
| 0.017862675345229093, | |
| 0.5069229265877009, | |
| -0.03110254172096121, | |
| -0.017799975716782625, | |
| 0.23009325329956454, | |
| 1.2827176885021745, | |
| -1.099469975583417, | |
| 0.06121533524035614, | |
| 0.5620871324452188, | |
| -0.024362386561079682, | |
| 0.053183912527719895 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.00568209401782079, | |
| 1.4507081227302208e-09, | |
| 5.799027824059091e-08, | |
| 6.831182106166847e-09, | |
| 0.0003836144598291957, | |
| 8.144569008259879e-05, | |
| 4.6014823795050706e-05, | |
| 0.24495422468523123, | |
| 0.8684955541171336, | |
| 0.6642838337660345, | |
| 0.07808039101355584, | |
| 0.20860957229252292, | |
| 0.07870983439964904, | |
| 0.03507908369475162 | |
| ], dtype=np.float32) | |
| # Image 归一化参数（ImageNet 标准） | |
| IMAGE_MEAN = np.array([0.485, 0.456, 0.406], dtype=np.float32) | |
| IMAGE_STD = np.array([0.229, 0.224, 0.225], dtype=np.float32) | |